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<hr>
<h2 id="Ubuntu的安装"><a href="#Ubuntu的安装" class="headerlink" title="Ubuntu的安装"></a>Ubuntu的安装</h2><ul>
<li><p>安装好虚拟机VMware</p>
</li>
<li><p>下载 Ubuntu-16.04.7-desktop-amd64 镜像源</p>
<blockquote>
<p>官网：<a target="_blank" rel="noopener" href="https://releases.ubuntu.com/16.04/">https://releases.ubuntu.com/16.04/</a><br>官方镜像源：<a target="_blank" rel="noopener" href="https://releases.ubuntu.com/16.04/ubuntu-16.04.7-desktop-amd64.iso">点击下载官方镜像源</a><br>阿里云镜像源：<a target="_blank" rel="noopener" href="http://mirrors.aliyun.com/ubuntu-releases/16.04/ubuntu-16.04.7-desktop-amd64.iso">点击下载阿里云镜像源</a><br>该文档的PDF：<a target="_blank" rel="noopener" href="https://download.csdn.net/download/li1055107552/12829008">下载</a></p>
</blockquote>
</li>
<li><p>安装Ubuntu-16.04.7-desktop-amd64</p>
</li>
</ul>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908223146462.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="选择自定义，点击下一步"><br>选择自定义，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908224802632.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="点击下一步"><br>点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225124372.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="选择“稍后安装操作系统”，点击下一步"><br>选择“稍后安装操作系统”，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225215382.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="选择“Linux”，版本选择“Ubuntu 64位”，点击下一步"><br>选择“Linux”，版本选择“Ubuntu 64位”，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225314218.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="选择该虚拟机的安装位置，点击下一步"><br>选择该虚拟机的安装位置，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225350572.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225412144.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>根据自己的电脑，选择相应的配置，建议不低于2核2G内存</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225502494.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="这里选择NAT即可"><br>这里选择NAT即可。（安装好Ubuntu之后，选择右上角，点击“自动以太网”即可）</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225548299.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="在这里插入图片描述"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908225558141.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>这里选择默认推荐的即可，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908230931724.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908231010709.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>如图，点击下一步</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908231311332.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/2020090823133270.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>选择好磁盘文件存储的位置之后，点击下一步，即可看到大致的配置信息，点击完成</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908232849729.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>点击完成后，点击该虚拟机的CD/DVD</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/2020090823293182.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    - 选择CD/DVD（SATA），选择“使用ISO映像文件”，选择上一步骤下载的镜像源<br>    - 同时您还可以把“打印机”移除<br>    - 设置好之后，点击确定<br>    - 点击 开启此虚拟机</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233040219.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    拉到最下面，选择中文（简体）</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233114680.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    点击“安装Ubuntu”</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233423384.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    不做选择，点击“继续”</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233510512.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    选择“清除整个磁盘并安装Ubuntu”，点击现在安装</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233625651.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    弹出提示，点击继续</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233648901.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>时间选择shanghai即可，点击继续</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233715890.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>选择“汉语-汉语”，点击继续</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233742933.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>设置好用户名以及密码，点击继续</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233811864.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908233841416.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    - 稍等片刻，即可安装完成<br>    - 安装完毕，点击现在重启。（若出现一行命令行后没反应，关闭虚拟机重启）</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234032864.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>现在已经安装好Ubuntu了，登录刚刚设置的密码即可。</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234108519.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>    成功进入到Ubuntu主界面，您可以把这几项从启动器解锁</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234149401.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>打开第一项的搜索，打开终端</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234204463.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>打开一个终端，并锁定到启动器</p>
</blockquote>
<blockquote>
<p>运行终端，输入su命令，当你输入刚才登录的密码时发现su：认证失败。<br>你可以输入 $ sudo passwd root     更新密码（可以与原来相同）<br><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234432239.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>设置完成后，在此输入su，输入密码即可认证成功。</p>
</blockquote>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200908234530775.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>接下来打开 设置—系统 软件和更新，如图设置好即可。</p>
</blockquote>
<p>届时，你的Ubuntu 已经完全配置好了。</p>
<hr>
<h2 id="ROS的安装"><a href="#ROS的安装" class="headerlink" title="ROS的安装"></a>ROS的安装</h2><ol>
<li>首先添加ROS的镜像源（此处使用‘中国科学技术大学’的镜像源）</li>
</ol>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo sh –c <span class="string">&#x27;. /etc/lsb-release &amp;&amp; echo &quot;deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main&quot; &gt; /etc/apt/sources.list.d/ros-latest.list&#x27;</span></span><br></pre></td></tr></table></figure>

<ol start="2">
<li>添加密钥</li>
</ol>
<figure class="highlight bash"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line">$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116</span><br></pre></td></tr></table></figure>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909233036934.png#pic_center" alt="Alt"></p>
</blockquote>
<ol start="3">
<li>更新软件源<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo apt<span class="literal">-get</span> update</span><br></pre></td></tr></table></figure>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909233257485.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>接下来就是漫长的等待.. …（有条件的可以连个VPN，会快很多）</p>
</blockquote>
</li>
</ol>
<blockquote>
<p>若上方的 ‘ $ sudo apt-get update ‘ 更新失败了，<br>可以打开“设置-系统 软件和更新”，随意勾选一项 然后提示输入密码，接着再还原勾选的选项 点击“关闭”，即会提示以下信息<br><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909233705924.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>保证联网后，点击重新载入 便会出现如下界面。只需等待自动更新即可。<br><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909233824310.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>4. 安装ROS桌面完整版</p>
</blockquote>
<p>执行完上面的步骤后，执行命令安装ROS的桌面完整版</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo apt<span class="literal">-get</span> install ros<span class="literal">-kinetic</span><span class="literal">-desktop</span><span class="literal">-full</span></span><br></pre></td></tr></table></figure>
<p>可能有包无法下载，所以执行完之后，输入命令</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo apt<span class="literal">-get</span> install ros<span class="literal">-kinetic</span><span class="literal">-desktop</span><span class="literal">-full</span> –fix<span class="literal">-missing</span></span><br></pre></td></tr></table></figure>
<p>将检查是否有漏的包，并且自动进行相关的设置</p>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909234101581.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>5. 初始化rosdep</p>
</blockquote>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo rosdep init</span><br></pre></td></tr></table></figure>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> rosdep update</span><br></pre></td></tr></table></figure>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909234436782.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alr"><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909234446771.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"></p>
</blockquote>
<ol start="6">
<li>设置环境变量</li>
</ol>
<p>（默认）终端为bash的：</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> <span class="built_in">echo</span> <span class="string">&quot;source /opt/ros/kinetic/setup.bash&quot;</span> &gt;&gt; ~/.bashrc</span><br><span class="line"><span class="variable">$</span> source ~/.bashrc</span><br></pre></td></tr></table></figure>
<p>zsh终端的：</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br><span class="line">2</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> <span class="built_in">echo</span> <span class="string">&quot;source /opt/ros/kinetic/setup.zsh&quot;</span> &gt;&gt; ~/.zshrc</span><br><span class="line"><span class="variable">$</span> source ~/.zshrc</span><br></pre></td></tr></table></figure>
<blockquote>
<p>若不知道自己是什么终端的，可以输入 <code>$ env</code> 查看<br><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909234808788.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"><br>7. （选）你还可以安装 rosinsall  ROS中的一个常用工具，来便于后续的开发</p>
</blockquote>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> sudo apt<span class="literal">-get</span> install python<span class="literal">-rosinstall</span> python<span class="literal">-rosinstall</span><span class="literal">-generator</span> python<span class="literal">-wstool</span> <span class="built_in">build-essential</span></span><br></pre></td></tr></table></figure>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909235002169.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"></p>
</blockquote>
<p><strong>附：<code>$ apt-cache search package</code>   可以用来查询是否已经安装某个package</strong></p>
<p> <strong>到此，ROS 也已经安装完成了。</strong></p>
<p>输入 <strong><code>$ roscore</code></strong>  即可启动ROS了</p>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909235148976.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"></p>
</blockquote>
<hr>
<h2 id="运行小海龟"><a href="#运行小海龟" class="headerlink" title="运行小海龟"></a>运行小海龟</h2><ol>
<li><p>启动ROS。先打开一个终端，然后输入命令：</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> roscore</span><br></pre></td></tr></table></figure></li>
<li><p>启动turtlesim仿真节点。再打开一个终端，输入命令：</p>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> rosrun turtlesim turtlesim_node</span><br></pre></td></tr></table></figure></li>
<li><p>再打开一个终端，使得可以用键盘上的方向键操控小乌龟：</p>
</li>
</ol>
<figure class="highlight powershell"><table><tr><td class="gutter"><pre><span class="line">1</span><br></pre></td><td class="code"><pre><span class="line"><span class="variable">$</span> rosrun turtlesim turtle_teleop_key</span><br></pre></td></tr></table></figure>
<blockquote>
<p><img src= "" data-lazy-src="https://img-blog.csdnimg.cn/20200909235510599.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2xpMTA1NTEwNzU1Mg==,size_16,color_FFFFFF,t_70#pic_center" alt="Alt"></p>
</blockquote>
<h3 id="到此，你的ROS已经能够正常运行啦！"><a href="#到此，你的ROS已经能够正常运行啦！" class="headerlink" title="到此，你的ROS已经能够正常运行啦！"></a>到此，你的ROS已经能够正常运行啦！</h3><p><strong>开始进阶学习吧~</strong> </p>
<hr>
</article><div class="post-copyright"><div class="post-copyright__author"><span class="post-copyright-meta">文章作者: </span><span class="post-copyright-info"><a href="mailto:undefined">细粒丁</a></span></div><div class="post-copyright__type"><span class="post-copyright-meta">文章链接: </span><span class="post-copyright-info"><a href="https://tenyding.cn/%E7%B2%BE%E9%80%9A%E5%90%84%E8%BD%AF%E4%BB%B6%E7%9A%84%E5%AE%89%E8%A3%85/%E8%99%9A%E6%8B%9F%E6%9C%BA%E4%B8%8A%E5%AE%89%E8%A3%85Ubuntu16.04%E5%8F%8AROS/">https://tenyding.cn/精通各软件的安装/虚拟机上安装Ubuntu16.04及ROS/</a></span></div><div class="post-copyright__notice"><span class="post-copyright-meta">版权声明: </span><span class="post-copyright-info">本博客所有文章除特别声明外，均采用 <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/" target="_blank">CC BY-NC-SA 4.0</a> 许可协议。转载请注明来自 <a href="https://tenyding.cn" target="_blank">细粒丁の小窝</a>！</span></div></div><div class="tag_share"><div class="post-meta__tag-list"><a class="post-meta__tags" 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fa-stream"></i><span>目录</span></div><div class="toc-content"><ol class="toc"><li class="toc-item toc-level-1"><a class="toc-link" href="#%E8%99%9A%E6%8B%9F%E6%9C%BA%E4%B8%8A%E5%AE%89%E8%A3%85Ubuntu%E5%8F%8AROS"><span class="toc-number">1.</span> <span class="toc-text">虚拟机上安装Ubuntu及ROS</span></a><ol class="toc-child"><li class="toc-item toc-level-2"><a class="toc-link" href="#Ubuntu%E7%9A%84%E5%AE%89%E8%A3%85"><span class="toc-number">1.1.</span> <span class="toc-text">Ubuntu的安装</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#ROS%E7%9A%84%E5%AE%89%E8%A3%85"><span class="toc-number">1.2.</span> <span class="toc-text">ROS的安装</span></a></li><li class="toc-item toc-level-2"><a class="toc-link" href="#%E8%BF%90%E8%A1%8C%E5%B0%8F%E6%B5%B7%E9%BE%9F"><span class="toc-number">1.3.</span> <span class="toc-text">运行小海龟</span></a><ol class="toc-child"><li class="toc-item toc-level-3"><a class="toc-link" href="#%E5%88%B0%E6%AD%A4%EF%BC%8C%E4%BD%A0%E7%9A%84ROS%E5%B7%B2%E7%BB%8F%E8%83%BD%E5%A4%9F%E6%AD%A3%E5%B8%B8%E8%BF%90%E8%A1%8C%E5%95%A6%EF%BC%81"><span class="toc-number">1.3.1.</span> <span class="toc-text">到此，你的ROS已经能够正常运行啦！</span></a></li></ol></li></ol></li></ol></div></div></div></div></main><footer id="footer" style="background-image: url('/image/bg11.jpg')"><div id="footer-wrap"><div class="copyright">&copy;2020 - 2022 By 细粒丁</div><div class="framework-info"><span>框架 </span><a target="_blank" rel="noopener" href="https://hexo.io">Hexo</a><span class="footer-separator">|</span><span>主题 </span><a target="_blank" rel="noopener" href="https://github.com/jerryc127/hexo-theme-butterfly">Butterfly</a></div><div class="footer_custom_text"><a target="_blank" rel="noopener" href="https://beian.miit.gov.cn/"><span>粤ICP备20048893号</span></a></div></div></footer></div><div id="rightside"><div id="rightside-config-hide"><button id="readmode" type="button" title="阅读模式"><i class="fas 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